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针对一类带有多干扰的非线性时变时滞关联系统,考虑了复合抗干扰控制器设计问题.复合抗干扰控制器的设计主要结合了基于干扰观测器的控制方法(Disturbance observer based control,DOBC)和H_∞控制方法.系统受到的干扰可以分为两类:第一类干扰由外部系统描述,并且与控制输入在同一通道;第二类干扰假定满足有界H_2范数.设计干扰观测器估计第一类干扰,并利用干扰估计值进行前馈补偿;利用H_∞控制方法对第二类干扰进行衰减.利用Lyapunov函数理论分析了闭环系统的稳定性,并以线性矩阵不等式的形式给出了可解的时滞依赖条件.最后,利用数值仿真验证了所提方法的有效性.
For a class of nonlinear time-varying delay systems with multiple perturbations, the design of composite anti-jamming controller is considered. The design of compound anti-jamming controller mainly combines the disturbance observer based control method (Disturbance observer based control, DOBC) and H_∞ control methods. The system interferences can be divided into two types: the first type of interference is described by the external system and is on the same channel as the control input; the second type of interference is supposed to satisfy the bounded H_2 norm. The first type of interference is estimated and the feedforward compensation is performed by using the estimated disturbance value. The second type of interference is attenuated by using H_∞ control method. The stability of the closed-loop system is analyzed by using the Lyapunov function theory. The linear matrix inequality The solvable delay-dependent conditions are obtained.Finally, numerical simulation is used to verify the effectiveness of the proposed method.